US9369695B2 - Method and apparatus for three-dimensional measurement and image processing device - Google Patents

Method and apparatus for three-dimensional measurement and image processing device Download PDF

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Publication number
US9369695B2
US9369695B2 US14/577,411 US201414577411A US9369695B2 US 9369695 B2 US9369695 B2 US 9369695B2 US 201414577411 A US201414577411 A US 201414577411A US 9369695 B2 US9369695 B2 US 9369695B2
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image capture
translation
imaging unit
capture position
image
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US20150103148A1 (en
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Tomonori Masuda
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Fujifilm Corp
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Fujifilm Corp
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    • H04N13/0246—
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/246—Calibration of cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/06—Use of electric means to obtain final indication
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B35/00—Stereoscopic photography
    • G06T7/002—
    • G06T7/0075—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G06T7/85—Stereo camera calibration
    • H04N13/0239—
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B35/00—Stereoscopic photography
    • G03B35/08—Stereoscopic photography by simultaneous recording
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds

Definitions

  • FIG. 23 is a flowchart illustrating a procedure of the three-dimensional measurement according to a fifth embodiment
  • the rotation matrix R 1 is represented by using two parameters, for example, a rotation angle ⁇ 1 in a horizontal plane and a rotation angle ⁇ 1 with respect to a vertical direction.
  • the rotation matrix R 1 may be represented by rotation angles ⁇ , ⁇ , and ⁇ relative to the respective X, Y, and Z axes.
  • the rotation matrix R 1 represented by the rotation angles ⁇ 1 and ⁇ 1 is substantially the same as the rotation matrix R 1 represented by the rotation angles ⁇ , ⁇ , and ⁇ .
  • the translation matrix calculator 24 calculates the translation matrix T 1 (see FIG. 3 ) based on the feature points in the image P AL and the corresponding points in the image P BL .
  • the translation matrix T 1 represents the translation direction (direction of the displacement or change in position) of the first imaging unit 11 at the second image capture position B relative to the first imaging unit 11 at the first image capture position A.
  • a normalized value of the translation matrix T 1 is calculable in this example, so that information of a translation distance is not included.
  • the rotation matrix represents the direction and the amount of the rotation
  • the translation matrix represents only the translation direction.
  • the position of the imaging unit at the second image capture position B cannot be determined relative to the imaging unit at the first image capture position A only with the pair of the rotation matrix and the translation matrix (R 1 and T 1 ).
  • the translation matrix T 1 determines the translation direction of the first imaging unit 11
  • the rotation matrix R 1 determines the direction and the amount (angle) of the rotation of the first imaging unit 11 relative to the translation direction.
  • arbitrariness of the position of the second image capture position B still remains because the translation distance is not specified.
  • Selecting the epipolar line with the smallest error ⁇ may be faster than calculating the coincidence along the epipolar line and comparing the coincidence as described in the first embodiment, in selecting the true epipolar line.
  • the time necessary for detecting the corresponding point and selecting the true epipolar line is reduced by selecting the small number of feature points (for example, the feature point F 10 only) for the evaluation of the error ⁇ and detecting the corresponding point which corresponds to the selected feature point (for example, the corresponding point C 10 in the image P BR ) as compared with the case where the coincidence is calculated along the epipolar lines for several times, which is equivalent to detecting the corresponding point, as described in the first embodiment.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)
  • Image Processing (AREA)
US14/577,411 2012-06-29 2014-12-19 Method and apparatus for three-dimensional measurement and image processing device Expired - Fee Related US9369695B2 (en)

Applications Claiming Priority (3)

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JP2012-146469 2012-06-29
JP2012146469 2012-06-29
PCT/JP2013/065670 WO2014002725A1 (ja) 2012-06-29 2013-06-06 ３次元測定方法、装置、及びシステム、並びに画像処理装置

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JP (1) JP5715735B2 (zh)
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US20190166349A1 (en) * 2017-11-28 2019-05-30 Center For Integrated Smart Sensors Foundation Image stitching method using viewpoint transformation and system therefor

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TWI520098B (zh) 2014-01-28 2016-02-01 聚晶半導體股份有限公司 影像擷取裝置及其影像形變偵測方法
CN104811688B (zh) * 2014-01-28 2017-09-01 聚晶半导体股份有限公司 图像获取装置及其图像形变检测方法
JP2016070762A (ja) * 2014-09-29 2016-05-09 ファナック株式会社 対象物の三次元位置を検出する検出方法および検出装置
CN108141510A (zh) * 2015-10-30 2018-06-08 奥林巴斯株式会社 摄像系统
US11143504B2 (en) * 2015-11-16 2021-10-12 Sony Semiconductor Solutions Corporation Image capture device and image capture system
CN105910584B (zh) * 2016-05-06 2018-05-04 北京信息科技大学 大尺寸动态摄影测量系统的高精度定向及定向精度评价方法
JP2018051728A (ja) * 2016-09-30 2018-04-05 ファナック株式会社 対象物の三次元位置を検出する検出方法および検出装置
CN108088383B (zh) * 2017-12-05 2019-06-25 武汉理工大学 一种应用于起重机械的摄影测量算法
TWI757658B (zh) * 2018-11-14 2022-03-11 宏達國際電子股份有限公司 影像處理系統及影像處理方法
US11922659B2 (en) 2018-11-29 2024-03-05 Nec Solution Innovators, Ltd. Coordinate calculation apparatus, coordinate calculation method, and computer-readable recording medium
CN109559354B (zh) * 2018-11-30 2024-02-23 北京金风科创风电设备有限公司 测量塔架净空的方法以及装置
CN111829456A (zh) * 2019-04-19 2020-10-27 株式会社三丰 三维形状测定装置以及三维形状测定方法
CN111432117B (zh) * 2020-03-23 2021-08-10 北京迈格威科技有限公司 图像矫正方法、装置和电子系统
CN114608450B (zh) * 2022-03-10 2023-09-26 西安应用光学研究所 机载光电系统对远距离海面目标三维尺寸测算方法

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US20190166349A1 (en) * 2017-11-28 2019-05-30 Center For Integrated Smart Sensors Foundation Image stitching method using viewpoint transformation and system therefor
US10778950B2 (en) * 2017-11-28 2020-09-15 Center For Integrated Smart Sensors Foundation Image stitching method using viewpoint transformation and system therefor

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WO2014002725A1 (ja) 2014-01-03
US20150103148A1 (en) 2015-04-16
CN104395692B (zh) 2016-08-24
JP5715735B2 (ja) 2015-05-13
CN104395692A (zh) 2015-03-04

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